#ifndef __VISION_FIX_H__
#define __VISION_FIX_H__
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
#include <stdbool.h>
#include <math.h>
#include <WP_DataType.h>

void Horizontal_Navigation_Vision_Fix(int var_id,float x,float y,float z,uint8_t nav_mode,uint8_t frame_id);
void Horizontal_Navigation_No_Vision_Fix(float x,float y,float z,uint8_t nav_mode,uint8_t frame_id);
int fly_finish_No_Vision(void);
int fly_finish_Vision(Vector3f* err_position);

void require_v831(void);
void try_get_v831(int* x,int* y,int* id,uint8_t* success);
uint8_t have_require_v831(void);
void push_v831(int x,int y,int id);

void require_maixcam(void);
void try_get_maixcam(int* x,int* y,int* id,uint8_t* success);
uint8_t have_require_maixcam(void);
void push_maixcam(int x,int y,int id);

void start_delay_ms(int ms);
void inc_ms_calkback(void);
uint8_t check_delay_finish(void);


void example_new_no_vision(void);
void example_new_vision(void);

#endif



